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Income Taxes - Schedule of Statutory Federal Income Tax Rate (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
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Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Tax Disclosure [Abstract] |  |  |  |  |  |  |
Income tax benefit at the federal statutory rate |  |  |  |  | $ (2,317) | $ (1,221) | $ (1,316)
State and local income taxes, net of effect on federal taxes |  |  |  |  | (213) | (800) | (441)
Increase (decrease) in valuation allowance |  |  |  |  | 402 | (1,861) | (8,509)
Remeasurement of deferred tax assets |  |  |  |  | 1,032 |  |
Incentive stock options/forfeitures |  |  |  |  |  | (22) | (11)
Permanent differences and other |  |  |  |  | 1,066 | 182 | 508
Other |  |  |  |  | (45) |  |
Change in Federal tax rate |  |  |  |  |  |  | 10,848
Research and development tax credits |  |  |  |  |  |  | (1,390)
Income tax benefit | $ (75) |  |  |  | $ (75) |  | $ (311)

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- Definition Amount of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 740 -Section 35 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=117330312&loc=d3e23163-113944 + Details
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